AttributeError: 'open3d.cpu.pybind.geometry.PointCloud' object has no attribute 'search_knn_vector_3d'

很抱歉，我之前的回答有误。Open3D的PointCloud对象确实没有`triangulate`方法。为了将点云三角化，可以使用以下代码： ```python import rospy import moveit_msgs.msg as moveit_msgs import open3d as o3d import numpy as np def point_cloud_to_scene(point_cloud_topic, camera_frame_id, scene_publisher): # Subscribe to point cloud topic point_cloud = rospy.wait_for_message(point_cloud_topic, sensor_msgs.msg.PointCloud2) # Convert point cloud to numpy array points = np.array(list(pc2.read_points(point_cloud, skip_nans=True))) # Convert numpy array to Open3D point cloud pcd = o3d.geometry.PointCloud() pcd.points = o3d.utility.Vector3dVector(points) # Triangulate point cloud tri = o3d.geometry.TriangleMesh.create_from_point_cloud_alpha_shape(pcd, alpha=0.03) # Convert Open3D triangle mesh to MoveIt scene vertices = np.asarray(tri.vertices) triangles = np.asarray(tri.triangles) scene_msg = moveit_msgs.PlanningScene() scene_msg.is_diff = True object_msg = moveit_msgs.PlanningSceneWorld() object_msg.collision_objects.append(moveit_msgs.CollisionObject()) object_msg.collision_objects[0].id = "point_cloud" object_msg.collision_objects[0].header.frame_id = camera_frame_id object_msg.collision_objects[0].meshes.append(moveit_msgs.Mesh()) object_msg.collision_objects[0].meshes[0].vertices = [moveit_msgs.Vertex(x=vertices[i][0], y=vertices[i][1], z=vertices[i][2]) for i in range(vertices.shape[0])] object_msg.collision_objects[0].meshes[0].triangles = [moveit_msgs.Triangle(mesh.vertices[i][0], mesh.vertices[i][1], mesh.vertices[i][2]) for i in range(triangles.shape[0])] scene_msg.world.collision_objects = object_msg.collision_objects scene_publisher.publish(scene_msg) ``` 这个函数会将点云转换为Open3D的PointCloud对象，然后使用`create_from_point_cloud_alpha_shape`函数进行三角化，生成Open3D的TriangleMesh对象。接下来，将TriangleMesh对象转换为MoveIt环境scene，并发布到MoveIt Planning Scene的话题上。 请注意，这个函数需要安装Open3D库。

非常抱歉，我之前提供的代码有误。在Open3D的最新版本中，`PointCloud`对象没有名为`point_attr`的属性。请使用以下代码进行修改： ```python import numpy as np import open3d as o3d data = np.loadtxt('E:/radar_dataset_astyx-main/dataset_astyx_demo/radar_hires1/000000.txt', skiprows=1) point_cloud = o3d.geometry.PointCloud() point_cloud.points = o3d.utility.Vector3dVector(data[:, :3]) # 创建一个新的点云属性对象 velocity_attr = o3d.geometry.PointAttribute() scatter_attr = o3d.geometry.PointAttribute() # 设置点云属性的名称和数据 velocity_attr.name = "velocity" velocity_attr.data = o3d.utility.DoubleVector(data[:, 3]) scatter_attr.name = "scatter" scatter_attr.data = o3d.utility.DoubleVector(data[:, 4]) # 将点云属性添加到点云对象中 point_cloud.point_attributes.append(velocity_attr) point_cloud.point_attributes.append(scatter_attr) o3d.visualization.draw_geometries([point_cloud]) ``` 在这段代码中，我们创建了两个新的点云属性对象`velocity_attr`和`scatter_attr`，并设置了它们的名称和数据。然后，我们使用`point_cloud.point_attributes.append()`将这两个属性对象添加到点云对象中。 再次对之前的错误造成的困扰表示抱歉。希望这次能满足你的需求！如果你还有其他问题，请随时提问。